Renderers

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Renderers#

Renderers are used to visualize the simulation, and can be used either in on-screen mode or headless (off-screen) mode. Renderers are also responsible for generating image-based observations that are returned from a given environment, and compute virtual images of the environment based on the properties defined in the cameras.

Currently, the following ground-truth vision modalities are supported by the MuJoCo renderer:

  • RGB: Standard 3-channel color frames with values in range [0, 255]. This is set during environment construction with the use_camera_obs argument.

  • Depth: 1-channel frame with normalized values in range [0, 1]. This is set during environment construction with the camera_depths argument.

  • Segmentation: 1-channel frames with pixel values corresponding to integer IDs for various objects. Segmentation can occur by class, instance, or geom, and is set during environment construction with the camera_segmentations argument.

Additional modalities are supported by a subset of the renderers. In robosuite, the user has the following rendering options:

Comparison of renderer options

MuJoCo#

MuJoCo exposes users to an OpenGL context supported by mujoco. Based on OpenGL, our assets and environment definitions have been tuned to look good with this renderer. The rendered frames can be displayed in a window with OpenCV’s imshow.

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